飞行中昆虫运动参数及翼变形的光学测量和演示
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摘要
微型飞行器的研究是近年来兴起的一个热门课题，其在军事侦查中的重要作用使其具有很广泛的应用前景。这样，与微型飞行器尺度相近之昆虫的飞行机理研究就成了人们关注的焦点。相关课题已经有了相当深入的研究，但是由于测量条件的复杂多变及昆虫飞行的随意性，到目前为止，关于自由飞行昆虫的运动参数测量的研究还不理想，测量方法的精度都还不是很高。特别是昆虫飞行中翼的柔性效应对其飞行性能的影响还不清楚，部分原因在于飞行中的翼变形的细节没有很好的测量报告。
本文提出了将投影正弦栅线法用于蜻蜓飞行翅膀翼面变形研究的方案。由计算机生成正弦数字光栅，并通过投影仪投射光栅到试件表面，通过拍摄由于高度调制发生畸变的光栅图像进行测量。设计了一个拍动装置驱动真实的蜻蜓翅膀以与蜻蜓相似的扇翅频率拍动，用投影正弦栅线法对翅膀翼面变形进行测量，用高速CCD摄像机记录原始数据图像，然后用空间载波相移法求解位相信息并用区域相关位相展开方法进行位相展开，最终得到了比较准确的结果，从而验证了投影正弦栅线法并不受蜻蜓翅膀表面光学性质的影响，可以用在蜻蜓翼面变形的测量试验中，从而证明了实验方案的可行性。
本课题的主要目的是测量更有意义的自由飞行时蜻蜓的翼面变形。但是束缚状态下蜻蜓的扇翅规律更为稳定，因此在试验中用投影正弦栅线法共测量了束缚扇翅、自由直线飞行和自由转弯飞行三种不同的状态。在这部分的数据处理中，采用在位相检测中更适合于本实验的图像原始数据的二维加窗傅立叶变换的方法，配合二维加权最小二乘法位相展开技术，克服了原始数据图像亮度和对比度差的缺点，得到了更为精确的计算结果。同时对束缚扇翅，自由直线飞行，自由转弯飞行三种不同状态的扇翅角，扭转角，弓形变形等运动参数进行了对比分析。
根据本试验数据处理的需要，设计了投影光栅法三维形状测量软件，其主要完成的功能包括Fourier变换和反Fourier变换、加窗Fourier变换、区域相关位相展开、加权最小二乘法位相展开，并针对蜻蜓翅膀的测量做了相应的优化处理。另外还设计了蜻蜓飞行测量结果显示和分析系统，将测量得到的结果以直观的方式显示出来，并提供了相应的数据分析功能。其主要功能包括蜻蜓翅膀任意截面数据分析，蜻蜓翅膀高度数据的平面拟合、二次曲面拟合和三次曲面拟合。
The research of Micro Aerial Vehicle (MAV) becomes a hotter topic in recent years, because of its importance on the scout for the military, this research area has a very bright future. The size of the MAV is similar with the insects, so many people focused their research on the aerodynamic theory of the insects. There have been many research work on the measurement of the insects' movement parameters, but by now, the research on the free flight insect still can not reach our prospect, and the measurement method which has been used can not obtain a result with high precision. Especially, it is still unknown that what influence the flexible effect have on the flight mechanism of the insect, partially it is because there is not any measurement report about the detail of the wing's deformation in free flight.
In this thesis, the sine fringes pattern projection method is proposed to be used to mesure the wing's deformation of the dragonfly when it is flying. The digital sine fringe patterns are generated by the computer, and then projected on to the testing object by the projector, and finally the height can be measured by recording the distorted fringe patterns. A simulated flapping model is devised to drive the real dragonfly's wing flapping at about the same frequency with the real dragonfly, and the sine fringe patterns are projected onto the wing to mesure its deformation. Then the Spacial Carrier Phase method is used to calculate the wrapped phase, and the unwrapped phase can be obtained by the region correlation phase unwrapping method. Finally we obtained accurate result. And by doing this, the sine fringe patterns projection method is verified to be used in the measurement of the dragonfly's wing's deformation.
The purpose of this thesis is to measure the deformation of free-flight dragonfly's wings which is more significative. But the flapping mode is more stable under the restricted condition. So in this experiment, the restricted flapping mode,the direct forward flight and the turning flight were all measured by the sine fringe patterns projection method. In the data processing section, the 2-D windowed Fourier transform method is used to obtain the wrapped phase, and the 2-D weighted Least-Squares phase unwrapping method is used to unwrap the phase. By using these methods, the precise result can be obtained in despite of the bad quality of the original data. Then the flapping angle ,torsional angle and the camber deformation are compared and analysed in the three different flight modes.
For the need of the data processing in this experiment, a software is devised to calculate the 3-D height distribution by the sine fringe projecting method. Its main function include "Fourier transform", "inverse Fourier transform", "windowed Fourier transform", "region correlation phase unwrapping method, "Weighted Least-squares phase unwrapping method", and optimized the software for the measurement of the dragonfly's wings. A software for the show and analysis of dragonfly's flight is also devised in our work. Its main function include "arbitrary transversal analysis", "complanation of the dragonfly's wing", "second curving surface fif " and "third curving surface fit".
本文提出了将投影正弦栅线法用于蜻蜓飞行翅膀翼面变形研究的方案。由计算机生成正弦数字光栅，并通过投影仪投射光栅到试件表面，通过拍摄由于高度调制发生畸变的光栅图像进行测量。设计了一个拍动装置驱动真实的蜻蜓翅膀以与蜻蜓相似的扇翅频率拍动，用投影正弦栅线法对翅膀翼面变形进行测量，用高速CCD摄像机记录原始数据图像，然后用空间载波相移法求解位相信息并用区域相关位相展开方法进行位相展开，最终得到了比较准确的结果，从而验证了投影正弦栅线法并不受蜻蜓翅膀表面光学性质的影响，可以用在蜻蜓翼面变形的测量试验中，从而证明了实验方案的可行性。
本课题的主要目的是测量更有意义的自由飞行时蜻蜓的翼面变形。但是束缚状态下蜻蜓的扇翅规律更为稳定，因此在试验中用投影正弦栅线法共测量了束缚扇翅、自由直线飞行和自由转弯飞行三种不同的状态。在这部分的数据处理中，采用在位相检测中更适合于本实验的图像原始数据的二维加窗傅立叶变换的方法，配合二维加权最小二乘法位相展开技术，克服了原始数据图像亮度和对比度差的缺点，得到了更为精确的计算结果。同时对束缚扇翅，自由直线飞行，自由转弯飞行三种不同状态的扇翅角，扭转角，弓形变形等运动参数进行了对比分析。
根据本试验数据处理的需要，设计了投影光栅法三维形状测量软件，其主要完成的功能包括Fourier变换和反Fourier变换、加窗Fourier变换、区域相关位相展开、加权最小二乘法位相展开，并针对蜻蜓翅膀的测量做了相应的优化处理。另外还设计了蜻蜓飞行测量结果显示和分析系统，将测量得到的结果以直观的方式显示出来，并提供了相应的数据分析功能。其主要功能包括蜻蜓翅膀任意截面数据分析，蜻蜓翅膀高度数据的平面拟合、二次曲面拟合和三次曲面拟合。
The research of Micro Aerial Vehicle (MAV) becomes a hotter topic in recent years, because of its importance on the scout for the military, this research area has a very bright future. The size of the MAV is similar with the insects, so many people focused their research on the aerodynamic theory of the insects. There have been many research work on the measurement of the insects' movement parameters, but by now, the research on the free flight insect still can not reach our prospect, and the measurement method which has been used can not obtain a result with high precision. Especially, it is still unknown that what influence the flexible effect have on the flight mechanism of the insect, partially it is because there is not any measurement report about the detail of the wing's deformation in free flight.
In this thesis, the sine fringes pattern projection method is proposed to be used to mesure the wing's deformation of the dragonfly when it is flying. The digital sine fringe patterns are generated by the computer, and then projected on to the testing object by the projector, and finally the height can be measured by recording the distorted fringe patterns. A simulated flapping model is devised to drive the real dragonfly's wing flapping at about the same frequency with the real dragonfly, and the sine fringe patterns are projected onto the wing to mesure its deformation. Then the Spacial Carrier Phase method is used to calculate the wrapped phase, and the unwrapped phase can be obtained by the region correlation phase unwrapping method. Finally we obtained accurate result. And by doing this, the sine fringe patterns projection method is verified to be used in the measurement of the dragonfly's wing's deformation.
The purpose of this thesis is to measure the deformation of free-flight dragonfly's wings which is more significative. But the flapping mode is more stable under the restricted condition. So in this experiment, the restricted flapping mode,the direct forward flight and the turning flight were all measured by the sine fringe patterns projection method. In the data processing section, the 2-D windowed Fourier transform method is used to obtain the wrapped phase, and the 2-D weighted Least-Squares phase unwrapping method is used to unwrap the phase. By using these methods, the precise result can be obtained in despite of the bad quality of the original data. Then the flapping angle ,torsional angle and the camber deformation are compared and analysed in the three different flight modes.
For the need of the data processing in this experiment, a software is devised to calculate the 3-D height distribution by the sine fringe projecting method. Its main function include "Fourier transform", "inverse Fourier transform", "windowed Fourier transform", "region correlation phase unwrapping method, "Weighted Least-squares phase unwrapping method", and optimized the software for the measurement of the dragonfly's wings. A software for the show and analysis of dragonfly's flight is also devised in our work. Its main function include "arbitrary transversal analysis", "complanation of the dragonfly's wing", "second curving surface fif " and "third curving surface fit".
引文
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